version: 66.03
glider: 17
mission: 6
dive: 89
start: 7 14 108 14 9 16
data:
$ID,17
$MISSION,6
$DIVE,89
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,480
$T_MISSION,540
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,52301
$NAV_MODE,2
$FERRY_MAX,60
$KALMAN_USE,2
$HD_A,0.00251
$HD_B,0.0080399998
$HD_C,2.6800001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,66
$TGT_DEFAULT_LON,6
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-87996.344
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,62
$PITCH_MAX,3362
$C_PITCH,1935
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.059999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,153
$ROLL_MAX,3868
$ROLL_DEG,32
$C_ROLL_DIVE,2105
$C_ROLL_CLIMB,2010
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,320
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,452
$VBD_MAX,3835
$C_VBD,2792
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,6
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-4.9708929
$PRESSURE_SLOPE,9.1642258e-05
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,37
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043458045
$SEABIRD_T_H,0.00063927198
$SEABIRD_T_I,2.5059786e-05
$SEABIRD_T_J,2.8926322e-06
$SEABIRD_C_G,-8.9986515
$SEABIRD_C_H,1.011379
$SEABIRD_C_I,-0.0019357111
$SEABIRD_C_J,0.00022611961
$GPS1,140544,6618.046,356.960,24,1.4,31,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-47.8
$GPS2,140857,6618.024,357.020,15,1.4,15,-3.2
$SPEED_LIMITS,0.119,0.230
$TGT_NAME,OWSM
$TGT_LATLONG,6600.000,200.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,309.6,94257,-11.9,-6.875
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.87,-116.7,0.0,0.0,0,71,0.00,0.00,-52.08,0.000,2,0.000,0.000,53,2101,3196
$GC,74,-0.87,-116.7,3.6,-6.3,7,95,10.38,2.05,-1.60,0.000,4,0.196,0.052,1738,966,3271
$GC,191,-0.87,-116.7,18.3,-7.9,27,198,0.00,1.98,0.00,0.000,6,0.000,0.032,1738,2103,3273
$GC,535,-0.98,-116.7,38.8,-4.8,88,541,0.00,0.00,0.00,0.000,6,0.000,0.000,1738,2103,3273
$GC,879,-1.08,-116.7,56.2,-4.4,149,885,0.15,0.00,0.00,0.000,6,0.044,0.000,1693,2103,3273
$GC,1221,-1.08,-116.7,78.6,-7.0,210,1228,0.00,2.08,0.00,0.000,4,0.000,0.053,1693,3225,3273
$GC,1274,-1.02,-116.7,82.4,-7.5,219,1280,0.00,1.98,0.00,0.000,6,0.000,0.034,1693,2095,3274
$GC,1618,-1.02,-116.7,107.5,-7.5,280,1625,0.00,2.08,0.00,0.000,4,0.000,0.052,1693,3224,3273
$GC,1653,-1.02,-116.7,110.2,-7.8,286,1660,0.00,1.95,0.00,0.000,6,0.000,0.035,1693,2107,3273
$GC,1997,-1.02,-116.7,135.3,-7.4,347,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,1693,2107,3272
$GC,2339,-1.02,-116.7,161.2,-7.7,408,2346,0.00,2.10,0.00,0.000,4,0.000,0.052,1693,3224,3271
$GC,2374,-1.02,-116.7,164.0,-8.0,414,2381,0.00,1.95,0.00,0.000,6,0.000,0.037,1693,2110,3271
$GC,2719,-1.02,-116.7,190.1,-7.4,475,2725,0.00,2.05,0.00,0.000,4,0.000,0.054,1693,3229,3270
$GC,2755,-1.02,-116.7,192.9,-7.9,481,2761,0.00,1.95,0.00,0.000,6,0.000,0.037,1693,2107,3270
$GC,3084,-1.02,-116.7,218.4,-7.8,520,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,1693,2107,3269
$GC,3402,-1.02,-116.7,242.5,-7.2,550,3406,0.00,2.08,0.00,0.000,4,0.000,0.053,1693,3223,3269
$GC,3452,-1.02,-116.7,246.4,-7.7,554,3456,0.00,1.92,0.00,0.000,6,0.000,0.038,1693,2116,3269
$GC,3777,-1.02,-116.7,270.0,-7.5,584,3778,0.00,0.00,0.00,0.000,6,0.000,0.000,1693,2116,3267
$GC,4094,-1.02,-116.7,293.4,-7.2,614,4098,0.00,2.05,0.00,0.000,4,0.000,0.054,1693,3231,3267
$GC,4167,-1.02,-116.7,298.9,-7.8,620,4171,0.00,1.95,0.00,0.000,6,0.000,0.038,1693,2112,3266
$GC,4492,-1.02,-116.7,320.4,-6.5,650,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,1693,2112,3266
$GC,4810,-1.02,-116.7,342.1,-7.2,680,4813,0.00,2.08,0.00,0.000,4,0.000,0.055,1693,3227,3264
$GC,4893,-1.02,-116.7,348.3,-7.2,687,4897,0.00,1.95,0.00,0.000,6,0.000,0.038,1693,2114,3264
$GC,5218,-1.02,-116.7,370.7,-6.9,717,5221,0.00,2.03,0.00,0.000,4,0.000,0.056,1693,3224,3264
$GC,5256,-1.02,-116.7,373.5,-7.0,720,5260,0.00,1.95,0.00,0.000,6,0.000,0.039,1693,2115,3264
$GC,5582,-1.02,-116.7,395.7,-6.9,750,5586,0.00,2.03,0.00,0.000,4,0.000,0.057,1693,3227,3263
$GC,5614,-1.02,-116.7,398.3,-7.5,752,5622,0.00,2.00,0.00,0.000,6,0.000,0.040,1693,2118,3263
$GC,5940,-1.02,-116.7,421.2,-7.2,783,5943,0.00,2.03,0.00,0.000,4,0.000,0.058,1693,3222,3262
$GC,5994,-1.02,-116.7,425.5,-8.0,787,6001,0.00,1.98,0.00,0.000,6,0.000,0.041,1693,2120,3262
$GC,6319,-1.02,-116.7,450.6,-7.9,818,6320,0.00,0.00,0.00,0.000,6,0.000,0.000,1693,2120,3261
$GC,6637,-1.02,-116.7,476.4,-7.9,848,6641,0.00,2.08,0.00,0.000,4,0.000,0.058,1693,3230,3261
$GC,6691,-1.02,-116.7,481.1,-8.5,852,6699,0.00,2.00,0.00,0.000,6,0.000,0.041,1693,2127,3261
$GC,7015,-1.02,-116.7,505.3,-7.4,880,7016,0.00,0.00,0.00,0.000,6,0.000,0.000,1693,2127,3260
$GC,7325,-1.02,-116.7,526.7,-6.8,895,7329,0.00,2.05,0.00,0.000,4,0.000,0.061,1693,3221,3259
$GC,7390,-1.02,-116.7,531.6,-7.3,898,7394,0.00,1.98,0.00,0.000,6,0.000,0.042,1693,2130,3259
$GC,7718,-1.02,-116.7,553.3,-6.4,914,7719,0.00,0.00,0.00,0.000,6,0.000,0.000,1693,2130,3258
$GC,8027,-1.02,-116.7,572.7,-6.3,929,8030,0.00,2.08,0.00,0.000,4,0.000,0.064,1693,3228,3257
$GC,8110,-1.02,-116.7,578.6,-7.1,933,8114,0.00,1.98,0.00,0.000,6,0.000,0.044,1693,2122,3257
$GC,8436,-1.02,-116.7,599.2,-6.3,949,8438,0.00,0.00,0.00,0.000,6,0.000,0.000,1693,2122,3257
$GC,8745,-1.02,-116.7,618.4,-6.4,964,8749,0.00,2.03,0.00,0.000,4,0.000,0.067,1693,3220,3256
$GC,8799,-1.02,-116.7,622.2,-6.9,966,8807,0.00,1.98,0.00,0.000,6,0.000,0.046,1693,2134,3255
$GC,9116,-1.02,-116.7,642.3,-6.5,982,9117,0.00,0.00,0.00,0.000,6,0.000,0.000,1693,2134,3254
$GC,9425,-1.02,-116.7,662.3,-6.4,997,9429,0.00,2.05,0.00,0.000,4,0.000,0.071,1693,3224,3253
$GC,9464,-1.02,-116.7,664.9,-6.8,999,9468,0.00,1.98,0.00,0.000,6,0.000,0.049,1693,2123,3253
$GC,9790,-1.02,-116.7,686.6,-6.8,1015,9794,0.00,2.03,0.00,0.000,4,0.000,0.070,1693,3221,3252
$GC,9828,-1.02,-116.7,689.5,-7.3,1017,9832,0.00,1.95,0.00,0.000,6,0.000,0.048,1693,2136,3252
$GC,10154,-1.02,-116.7,712.6,-7.2,1033,10155,0.00,0.00,0.00,0.000,6,0.000,0.000,1693,2135,3251
$GC,10464,-1.02,-116.7,735.5,-7.5,1048,10465,0.00,0.00,0.00,0.000,6,0.000,0.000,1693,2135,3250
$GC,10773,-1.02,-116.7,758.7,-7.5,1063,10777,0.00,2.05,0.00,0.000,4,0.000,0.071,1693,3221,3250
$GC,10838,-1.02,-116.7,763.9,-7.9,1066,10843,0.00,2.00,0.00,0.000,6,0.000,0.049,1693,2126,3249
$GC,11165,-1.02,-116.7,787.2,-6.9,1082,11167,0.00,0.00,0.00,0.000,6,0.000,0.000,1693,2126,3249
$GC,11475,-1.02,-116.7,806.8,-6.1,1097,11478,0.00,2.03,0.00,0.000,4,0.000,0.071,1693,3223,3248
$GC,11517,-1.02,-116.7,809.7,-6.2,1099,11522,0.00,1.98,0.00,0.000,6,0.000,0.049,1693,2139,3248
$GC,11845,-1.02,-116.7,828.5,-5.6,1115,11846,0.00,0.00,0.00,0.000,6,0.000,0.000,1693,2139,3247
$GC,12154,-1.02,-116.7,846.4,-5.9,1130,12155,0.00,0.00,0.00,0.000,6,0.000,0.000,1693,2138,3246
$GC,12464,-1.02,-116.7,865.4,-6.3,1145,12467,0.00,2.03,0.00,0.000,4,0.000,0.071,1693,3224,3246
$GC,12512,-1.02,-116.7,868.7,-6.7,1147,12516,0.00,1.98,0.00,0.000,6,0.000,0.050,1693,2139,3246
$GC,12834,-1.02,-116.7,889.4,-6.5,1163,12835,0.00,0.00,0.00,0.000,6,0.000,0.000,1693,2139,3245
$GC,13144,-1.02,-116.7,910.2,-6.7,1178,13145,0.00,0.00,0.00,0.000,6,0.000,0.000,1693,2139,3244
$GC,13452,-1.02,-116.7,930.6,-6.5,1193,13456,0.00,2.03,0.00,0.000,4,0.000,0.071,1693,3221,3244
$GC,13491,-1.02,-116.7,933.3,-6.6,1195,13495,0.00,1.95,0.00,0.000,6,0.000,0.051,1693,2139,3244
$GC,13817,-1.02,-116.7,954.4,-6.4,1211,13818,0.00,0.00,0.00,0.000,6,0.000,0.000,1693,2139,3244
$GC,14126,-1.02,-116.7,974.1,-6.4,1226,14128,0.00,0.00,0.00,0.000,6,0.000,0.000,1693,2138,3243
$STATE,14392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,14393,begin apogee
$GC,14397,-0.31,0.0,990.8,6.2,1239,14499,0.88,0.00,98.28,1.601,6,0.110,0.000,1864,2003,2792
$STATE,14499,end apogee,CONTROL_FINISHED_OK
$STATE,14499,begin climb
$GC,14501,0.87,116.7,993.3,0.0,1244,14612,1.25,2.20,101.95,1.533,4,0.077,0.069,2120,892,2316
$GC,14622,0.91,149.3,989.9,5.6,1249,14657,0.00,2.05,29.95,1.439,6,0.000,0.048,2120,2005,2183
$GC,14964,0.91,149.3,964.1,7.7,1266,14967,0.00,2.12,0.00,0.000,4,0.000,0.067,2120,3133,2180
$GC,15012,0.91,149.3,960.1,8.0,1268,15016,0.00,2.08,0.00,0.000,6,0.000,0.051,2120,2021,2180
$GC,15333,0.91,149.3,935.7,7.4,1284,15335,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2021,2180
$GC,15643,0.91,149.3,913.0,7.4,1299,15647,0.00,2.12,0.00,0.000,4,0.000,0.067,2120,3143,2179
$GC,15681,0.91,149.3,910.0,7.7,1301,15685,0.00,2.10,0.00,0.000,6,0.000,0.052,2120,2005,2179
$GC,16007,0.91,149.3,886.0,7.4,1317,16008,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2005,2179
$GC,16317,0.91,149.3,863.8,7.0,1332,16321,0.00,2.17,0.00,0.000,4,0.000,0.067,2120,3139,2178
$GC,16348,0.91,149.3,861.4,7.2,1333,16356,0.00,2.10,0.00,0.000,6,0.000,0.053,2120,2015,2178
$GC,16664,0.91,149.3,838.8,7.1,1349,16668,0.00,2.12,0.00,0.000,4,0.000,0.067,2120,3140,2178
$GC,16690,0.92,158.0,836.8,6.5,1350,16704,0.00,2.10,8.55,1.309,6,0.000,0.053,2121,2012,2147
$GC,17012,0.98,158.0,813.7,7.2,1366,17013,0.12,0.00,0.00,0.000,6,0.062,0.000,2149,2012,2147
$GC,17321,0.98,158.0,787.6,8.5,1381,17325,0.00,2.12,0.00,0.000,4,0.000,0.068,2149,3134,2146
$GC,17363,0.98,158.0,783.6,9.1,1383,17368,0.00,2.08,0.00,0.000,6,0.000,0.053,2149,2021,2146
$GC,17691,0.98,158.0,755.5,8.5,1399,17692,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2021,2146
$GC,18000,0.98,158.0,729.5,8.3,1414,18004,0.00,2.12,0.00,0.000,4,0.000,0.067,2149,3142,2145
$GC,18042,0.98,158.0,725.9,8.1,1416,18046,0.00,2.08,0.00,0.000,6,0.000,0.053,2149,2025,2145
$GC,18369,0.98,158.0,699.2,8.3,1432,18373,0.00,2.10,0.00,0.000,4,0.000,0.067,2149,3142,2145
$GC,18395,0.98,158.0,696.8,8.7,1433,18400,0.00,2.08,0.00,0.000,6,0.000,0.053,2149,2024,2145
$GC,18717,0.98,158.0,670.6,8.3,1449,18721,0.00,2.08,0.00,0.000,4,0.000,0.067,2149,3134,2145
$GC,18749,0.98,158.0,667.8,7.6,1450,18757,0.00,2.05,0.00,0.000,6,0.000,0.053,2149,2029,2145
$GC,19064,0.98,158.0,641.4,8.3,1466,19065,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2029,2145
$GC,19374,0.98,158.0,615.8,8.4,1481,19378,0.00,2.10,0.00,0.000,4,0.000,0.067,2149,3143,2145
$GC,19435,0.98,158.0,610.5,8.7,1484,19438,0.00,2.05,0.00,0.000,6,0.000,0.052,2149,2024,2145
$GC,19760,0.98,158.0,582.6,8.3,1500,19761,0.00,0.00,0.00,0.000,6,0.000,0.000,2149,2024,2145
$GC,20069,0.98,158.0,557.0,8.2,1515,20073,0.00,2.10,0.00,0.000,4,0.000,0.065,2149,3138,2145
$GC,20108,0.98,158.0,553.7,8.8,1517,20112,0.00,2.03,0.00,0.000,6,0.000,0.051,2149,2029,2144
$GC,20434,0.98,158.0,528.6,7.4,1533,20438,0.00,2.05,0.00,0.000,4,0.000,0.064,2149,3134,2145
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$GC,27011,1.10,211.7,25.5,5.0,2321,27056,0.12,2.12,38.03,0.841,4,0.052,0.054,2182,3129,1927
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$STATE,27305,end climb,SURFACE_DEPTH_REACHED
$STATE,27306,begin surface coast
$FINISH,0.0,1.009415
$STATE,27330,end surface coast,CONTROL_FINISHED_OK
$STATE,27330,begin surface
$SM_CCo,27347,14.25,0.778,0,0,1771,250.21
$SM_GC,1.87,0.00,0.00,14.25,0.000,0.000,0.778,59,2117,1771,-8.63,0.34,250.21
$IRIDIUM_FIX,6548.42,400.57,081097,141404
$TT8_MAMPS,0.021476
$HUMID,2068
$INTERNAL_PRESSURE,8.21321
$TCM_TEMP,3.00
$XPDR_PINGS,-1
$24V_AH,23.0,14.557
$10V_AH,10.1,7.693
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,22.450,171.525,304.450,14.250,0.000,29.582,32.998,57.954,0.000,0.000,0.000,15.396,4901.182,18753.711,615.227,2952.113,353.233,0.000,2447.911,0.000,2218.351,0.000,0.655
$DEVICE_MAMPS,196.352,71.331,1600.729,777.738,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,26.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,2264.888,1574.154,822.061,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,116543,2376
$CAP_FILE_SIZE,222554,0
$CFSIZE,256368640,246829056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045,141.1,1
$GPS,140708,214632,6619.617,350.915,40,1.5,40,-3.2